uorb start
qshell start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
param set MAV_TYPE 2
param set RC1_MAX 2015
param set RC1_MIN 996
param set RC1_TRIM 1502
param set RC1_REV -1
param set RC2_MAX 2016
param set RC2_MIN 995
param set RC2_TRIM 1500
param set RC3_MAX 2003
param set RC3_MIN 992
param set RC3_TRIM 992
param set RC4_MAX 2011
param set RC4_MIN 997
param set RC4_TRIM 1504
param set RC4_REV -1
param set RC6_MAX 2016
param set RC6_MIN 992
param set RC6_TRIM 1504
param set RC_CHAN_CNT 8
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 7
param set RC_MAP_RETURN_SW 8
param set MC_YAW_P 1.5
param set MC_PITCH_P 3.0
param set MC_ROLL_P 3.0
param set MC_YAWRATE_P 0.2
param set MC_PITCHRATE_P 0.03
param set MC_ROLLRATE_P 0.03
param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05
param set SYS_MC_EST_GROUP 0
sleep 1
commander start -hil
sensors start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
land_detector start multicopter
sleep 1
pwm_out_sim mode_pwm
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
list_devices
list_files
list_tasks
list_topics
sleep 10
list_tasks
sleep 10